OpenRaiser/Intern-Atlas huggingface dataset:
Hand3R: Online 4D Hand-Scene Reconstruction in the Wild
Venue: arXiv cs.CV 2026
Year: 2026

For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D environment. To address this, we present Hand3R, the first online framework for joint 4D hand-scene reconstruction from monocular video. Hand3R synergizes a pre-trained hand expert with a 4D scene foundation model via a scene-aware visual prompting mechanism. By injecting high-fidelity hand priors into a persistent scene memory, our approach enables simultaneous reconstruction of accurate hand meshes and dense metric-scale scene geometry in a single forward pass. Experiments demonstrate that Hand3R bypasses the reliance on offline optimization and delivers competitive performance in both local hand reconstruction and global positioning.
HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control
Venue: arXiv cs.RO 2026
Year: 2026

While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we address humanoid skateboarding, a highly challenging task requiring stable dynamic maneuvering on an underactuated wheeled platform. This integrated system is governed by non-holonomic constraints and tightly coupled human-object interactions. Successfully executing this task requires simultaneous mastery of hybrid contact dynamics and robust balance control on a mechanically coupled, dynamically unstable skateboard. To overcome the aforementioned challenges, we propose HUSKY, a learning-based framework that integrates humanoid-skateboard system modeling and physics-aware whole-body control. We first model the coupling relationship between board tilt and truck steering angles, enabling a principled analysis of system dynamics. Building upon this, HUSKY leverages Adversarial Motion Priors (AMP) to learn human-like pushing motions and employs a physics-guided, heading-oriented strategy for lean-to-steer behaviors. Moreover, a trajectory-guided mechanism ensures smooth and stable transitions between pushing and steering. Experimental results on the Unitree G1 humanoid platform demonstrate that our framework enables stable and agile maneuvering on skateboards in real-world scenarios. The project page is available on https://husky-humanoid.github.io/.
Topology Matters: A Cautionary Case Study of Graph SSL on Neuro-Inspired Benchmarks
Venue: arXiv cs.LG 2026
Year: 2026

Understanding how local interactions give rise to global brain organization requires models that can represent information across multiple scales. We introduce a hierarchical self-supervised learning (SSL) framework that jointly learns node-, edge-, and graph-level embeddings, inspired by multimodal neuroimaging. We construct a controllable synthetic benchmark mimicking the topological properties of connectomes. Our four-stage evaluation protocol reveals a critical failure: the invariance-based SSL model is fundamentally misaligned with the benchmark's topological properties and is catastrophically outperformed by classical, topology-aware heuristics. Ablations confirm an objective mismatch: SSL objectives designed to be invariant to topological perturbations learn to ignore the very community structure that classical methods exploit. Our results expose a fundamental pitfall in applying generic graph SSL to connectome-like data. We present this framework as a cautionary case study, highlighting the need for new, topology-aware SSL objectives for neuro-AI research that explicitly reward the preservation of structure (e.g., modularity or motifs).
TAME: A Trustworthy Test-Time Evolution of Agent Memory with Systematic Benchmarking
Venue: arXiv cs.AI 2026
Year: 2026

Test-time evolution of agent memory serves as a pivotal paradigm for achieving AGI by bolstering complex reasoning through experience accumulation. However, even during benign task evolution, agent safety alignment remains vulnerable-a phenomenon known as Agent Memory Misevolution. To evaluate this phenomenon, we construct the Trust-Memevo benchmark to assess multi-dimensional trustworthiness during benign task evolution, revealing an overall decline in trustworthiness across various task domains and evaluation settings. To address this issue, we propose TAME, a dual-memory evolutionary framework that separately evolves executor memory to improve task performance by distilling generalizable methodologies, and evaluator memory to refine assessments of both safety and task utility based on historical feedback. Through a closed loop of memory filtering, draft generation, trustworthy refinement, execution, and dual-track memory updating, TAME preserves trustworthiness without sacrificing utility. Experiments demonstrate that TAME mitigates misevolution, achieving a joint improvement in both trustworthiness and task performance.
HypCBC: Domain-Invariant Hyperbolic Cross-Branch Consistency for Generalizable Medical Image Analysis
Venue: arXiv cs.CV 2026
Year: 2026

Robust generalization beyond training distributions remains a critical challenge for deep neural networks. This is especially pronounced in medical image analysis, where data is often scarce and covariate shifts arise from different hardware devices, imaging protocols, and heterogeneous patient populations. These factors collectively hinder reliable performance and slow down clinical adoption. Despite recent progress, existing learning paradigms primarily rely on the Euclidean manifold, whose flat geometry fails to capture the complex, hierarchical structures present in clinical data. In this work, we exploit the advantages of hyperbolic manifolds to model complex data characteristics. We present the first comprehensive validation of hyperbolic representation learning for medical image analysis and demonstrate statistically significant gains across eleven in-distribution datasets and three ViT models. We further propose an unsupervised, domain-invariant hyperbolic cross-branch consistency constraint. Extensive experiments confirm that our proposed method promotes domain-invariant features and outperforms state-of-the-art Euclidean methods by an average of $+2.1\%$ AUC on three domain generalization benchmarks: Fitzpatrick17k, Camelyon17-WILDS, and a cross-dataset setup for retinal imaging. These datasets span different imaging modalities, data sizes, and label granularities, confirming generalization capabilities across substantially different conditions. The code is available at https://github.com/francescodisalvo05/hyperbolic-cross-branch-consistency .
Global Geometry Is Not Enough for Vision Representations
Venue: arXiv cs.CV 2026
Year: 2026

A common assumption in representation learning is that globally well-distributed embeddings support robust and generalizable representations. This focus has shaped both training objectives and evaluation protocols, implicitly treating global geometry as a proxy for representational competence. While global geometry effectively encodes which elements are present, it is often insensitive to how they are composed. We investigate this limitation by testing the ability of geometric metrics to predict compositional binding across 21 vision encoders. We find that standard geometry-based statistics exhibit near-zero correlation with compositional binding. In contrast, functional sensitivity, as measured by the input-output Jacobian, reliably tracks this capability. We further provide an analytic account showing that this disparity arises from objective design, as existing losses explicitly constrain embedding geometry but leave the local input-output mapping unconstrained. These results suggest that global embedding geometry captures only a partial view of representational competence and establish functional sensitivity as a critical complementary axis for modeling composite structure.
POP: Prefill-Only Pruning for Efficient Large Model Inference
Venue: arXiv cs.CL 2026
Year: 2026

Large Language Models (LLMs) and Vision-Language Models (VLMs) have demonstrated remarkable capabilities. However, their deployment is hindered by significant computational costs. Existing structured pruning methods, while hardware-efficient, often suffer from significant accuracy degradation. In this paper, we argue that this failure stems from a stage-agnostic pruning approach that overlooks the asymmetric roles between the prefill and decode stages. By introducing a virtual gate mechanism, our importance analysis reveals that deep layers are critical for next-token prediction (decode) but largely redundant for context encoding (prefill). Leveraging this insight, we propose Prefill-Only Pruning (POP), a stage-aware inference strategy that safely omits deep layers during the computationally intensive prefill stage while retaining the full model for the sensitive decode stage. To enable the transition between stages, we introduce independent Key-Value (KV) projections to maintain cache integrity, and a boundary handling strategy to ensure the accuracy of the first generated token. Extensive experiments on Llama-3.1, Qwen3-VL, and Gemma-3 across diverse modalities demonstrate that POP achieves up to 1.37$\times$ speedup in prefill latency with minimal performance loss, effectively overcoming the accuracy-efficiency trade-off limitations of existing structured pruning methods.
Lipschitz Multiscale Deep Equilibrium Models: A Theoretically Guaranteed and Accelerated Approach
Venue: arXiv cs.LG 2026
Year: 2026

Deep equilibrium models (DEQs) achieve infinitely deep network representations without stacking layers by exploring fixed points of layer transformations in neural networks. Such models constitute an innovative approach that achieves performance comparable to state-of-the-art methods in many large-scale numerical experiments, despite requiring significantly less memory. However, DEQs face the challenge of requiring vastly more computational time for training and inference than conventional methods, as they repeatedly perform fixed-point iterations with no convergence guarantee upon each input. Therefore, this study explored an approach to improve fixed-point convergence and consequently reduce computational time by restructuring the model architecture to guarantee fixed-point convergence. Our proposed approach for image classification, Lipschitz multiscale DEQ, has theoretically guaranteed fixed-point convergence for both forward and backward passes by hyperparameter adjustment, achieving up to a 4.75$\times$ speed-up in numerical experiments on CIFAR-10 at the cost of a minor drop in accuracy.
SCASRec: A Self-Correcting and Auto-Stopping Model for Generative Route List Recommendation
Venue: arXiv cs.IR 2026
Year: 2026

Route recommendation systems commonly adopt a multi-stage pipeline involving fine-ranking and re-ranking to produce high-quality ordered recommendations. However, this paradigm faces three critical limitations. First, there is a misalignment between offline training objectives and online metrics. Offline gains do not necessarily translate to online improvements. Actual performance must be validated through A/B testing, which may potentially compromise the user experience. Second, redundancy elimination relies on rigid, handcrafted rules that lack adaptability to the high variance in user intent and the unstructured complexity of real-world scenarios. Third, the strict separation between fine-ranking and re-ranking stages leads to sub-optimal performance. Since each module is optimized in isolation, the fine-ranking stage remains oblivious to the list-level objectives (e.g., diversity) targeted by the re-ranker, thereby preventing the system from achieving a jointly optimized global optimum. To overcome these intertwined challenges, we propose SCASRec (Self-Correcting and Auto-Stopping Recommendation), a unified generative framework that integrates ranking and redundancy elimination into a single end-to-end process. SCASRec introduces a stepwise corrective reward (SCR) to guide list-wise refinement by focusing on hard samples, and employs a learnable End-of-Recommendation (EOR) token to terminate generation adaptively when no further improvement is expected. Experiments on two large-scale, open-sourced route recommendation datasets demonstrate that SCASRec establishes an SOTA in offline and online settings. SCASRec has been fully deployed in a real-world navigation app, demonstrating its effectiveness.
Pi-GS: Sparse-View Gaussian Splatting with Dense π^3 Initialization
Venue: arXiv cs.GR 2026
Year: 2026

Novel view synthesis has evolved rapidly, advancing from Neural Radiance Fields to 3D Gaussian Splatting (3DGS), which offers real-time rendering and rapid training without compromising visual fidelity. However, 3DGS relies heavily on accurate camera poses and high-quality point cloud initialization, which are difficult to obtain in sparse-view scenarios. While traditional Structure from Motion (SfM) pipelines often fail in these settings, existing learning-based point estimation alternatives typically require reliable reference views and remain sensitive to pose or depth errors. In this work, we propose a robust method utilizing π^3, a reference-free point cloud estimation network. We integrate dense initialization from π^3 with a regularization scheme designed to mitigate geometric inaccuracies. Specifically, we employ uncertainty-guided depth supervision, normal consistency loss, and depth warping. Experimental results demonstrate that our approach achieves state-of-the-art performance on the Tanks and Temples, LLFF, DTU, and MipNeRF360 datasets.
The Personality Trap: How LLMs Embed Bias When Generating Human-Like Personas
Venue: arXiv cs.CY 2026
Year: 2026

This paper examines biases in large language models (LLMs) when generating synthetic populations from responses to personality questionnaires. Using five LLMs, we first assess the representativeness and potential biases in the sociodemographic attributes of the generated personas, as well as their alignment with the intended personality traits. While LLMs successfully reproduce known correlations between personality and sociodemographic variables, all models exhibit pronounced WEIRD (western, educated, industrialized, rich and democratic) biases, favoring young, educated, white, heterosexual, Western individuals with centrist or progressive political views and secular or Christian beliefs. In a second analysis, we manipulate input traits to maximize Neuroticism and Psychoticism scores. Notably, when Psychoticism is maximized, several models produce an overrepresentation of non-binary and LGBTQ+ identities, raising concerns about stereotyping and the potential pathologization of marginalized groups. Our findings highlight both the potential and the risks of using LLMs to generate psychologically grounded synthetic populations.
Manipulation via Force Distribution at Contact
Venue: arXiv cs.RO 2026
Year: 2026

Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on point contact models due to their computational effi- ciency. Simple contact models are computationally efficient but inherently limited for achieving human-like, contact-rich ma- nipulation, as they fail to capture key frictional dynamics and torque generation observed in human manipulation. This study introduces a Force-Distributed Line Contact (FDLC) model in contact-rich manipulation and compares it against conventional point contact models. A bi-level optimization framework is constructed, in which the lower-level solves an optimization problem for contact force computation, and the upper-level optimization applies iLQR for trajectory optimization. Through this framework, the limitations of point contact are demon- strated, and the benefits of the FDLC in generating efficient and robust trajectories are established. The effectiveness of the proposed approach is validated by a box rotating task, demonstrating that FDLC enables trajectories generated via non-uniform force distributions along the contact line, while requiring lower control effort and less motion of the robot.
MeKi: Memory-based Expert Knowledge Injection for Efficient LLM Scaling
Venue: arXiv cs.LG 2026
Year: 2026

Scaling Large Language Models (LLMs) typically relies on increasing the number of parameters or test-time computations to boost performance. However, these strategies are impractical for edge device deployment due to limited RAM and NPU resources. Despite hardware constraints, deploying performant LLM on edge devices such as smartphone remains crucial for user experience. To address this, we propose MeKi (Memory-based Expert Knowledge Injection), a novel system that scales LLM capacity via storage space rather than FLOPs. MeKi equips each Transformer layer with token-level memory experts that injects pre-stored semantic knowledge into the generation process. To bridge the gap between training capacity and inference efficiency, we employ a re-parameterization strategy to fold parameter matrices used during training into a compact static lookup table. By offloading the knowledge to ROM, MeKi decouples model capacity from computational cost, introducing zero inference latency overhead. Extensive experiments demonstrate that MeKi significantly outperforms dense LLM baselines with identical inference speed, validating the effectiveness of memory-based scaling paradigm for on-device LLMs. Project homepage is at https://github.com/ningding-o/MeKi.
PlanTRansformer: Unified Prediction and Planning with Goal-conditioned Transformer
Venue: arXiv cs.RO 2026
Year: 2026

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes known ego objectives and generates deterministic trajectories. This mismatch creates a critical bottleneck: prediction lacks supervision for agent intentions, while planning requires this information. Existing prediction models, despite strong benchmarking performance, often remain disconnected from planning constraints such as collision avoidance and dynamic feasibility. We introduce Plan TRansformer (PTR), a unified Gaussian Mixture Transformer framework integrating goal-conditioned prediction, dynamic feasibility, interaction awareness, and lane-level topology reasoning. A teacher-student training strategy progressively masks surrounding agent commands during training to align with inference conditions where agent intentions are unavailable. PTR achieves 4.3%/3.5% improvement in marginal/joint mAP compared to the baseline Motion Transformer (MTR) and 15.5% planning error reduction at 5s horizon compared to GameFormer. The architecture-agnostic design enables application to diverse Transformer-based prediction models. Project Website: https://github.com/SelzerConst/PlanTRansformer
Rethinking Benign Relearning: Syntax as the Hidden Driver of Unlearning Failures
Venue: arXiv cs.LG 2026
Year: 2026

Machine unlearning aims to remove specific content from trained models while preserving overall performance. However, the phenomenon of benign relearning, in which forgotten information reemerges even from benign fine-tuning data, reveals that existing unlearning methods remain fundamentally fragile. A common explanation attributes this effect to topical relevance, but we find this account insufficient. Through systematic analysis, we demonstrate that syntactic similarity, rather than topicality, is the primary driver: across benchmarks, syntactically similar data consistently trigger recovery even without topical overlap, due to their alignment in representations and gradients with the forgotten content. Motivated by this insight, we introduce syntactic diversification, which paraphrases the original forget queries into heterogeneous structures prior to unlearning. This approach effectively suppresses benign relearning, accelerates forgetting, and substantially alleviates the trade-off between unlearning efficacy and model utility.
On the Entropy Dynamics in Reinforcement Fine-Tuning of Large Language Models
Venue: arXiv cs.LG 2026
Year: 2026

Entropy serves as a critical metric for measuring the diversity of outputs generated by large language models (LLMs), providing valuable insights into their exploration capabilities. While recent studies increasingly focus on monitoring and adjusting entropy to better balance exploration and exploitation in reinforcement fine-tuning (RFT), a principled understanding of entropy dynamics during this process is yet to be thoroughly investigated. In this paper, we establish a theoretical framework for analyzing the entropy dynamics during the RFT process, which begins with a discriminant expression that quantifies entropy change under a single logit update. This foundation enables the derivation of a first-order expression for entropy change, which can be further extended to the update formula of Group Relative Policy Optimization (GRPO). The corollaries and insights drawn from the theoretical analysis inspire the design of entropy control methods, and also offer a unified lens for interpreting various entropy-based methods in existing studies. We provide empirical evidence to support the main conclusions of our analysis and demonstrate the effectiveness of the derived entropy-discriminator clipping methods. This study yields novel insights into RFT training dynamics, providing theoretical support and practical strategies for optimizing the exploration-exploitation balance during LLM fine-tuning.
Universal Costas Matrices: Towards a General Framework for Costas Array Construction
Venue: arXiv cs.IT 2026
Year: 2026

Costas arrays are a special type of permutation matrices with ideal autocorrelation and low cross-correlation properties, making them valuable for radar, wireless communication, and integrated sensing and communication applications. This paper presents a novel unified framework for analyzing and discovering new Costas arrays. We introduce Universal Costas Matrices (UCMs) and Universal Costas Frequency Matrices (UCFMs) and investigate their structural characteristics. A framework integrating UCMs and UCFMs is proposed to pave the way for future artificial intelligence-assisted Costas array discovery. Leveraging the structural properties of UCMs and UCFMs, a reconstruction-based search method is developed to generate UCMs from UCFMs. Numerical results demonstrate that the proposed approach significantly accelerates the search process and enhances structural insight into Costas array generation.